/*
*  Copyright 2018, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*  1. Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*
*  2. Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*
*  3. Neither the name of the copyright holder nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*
*  simple_navigation_server.h
*
*  authors:
*    Sebastian Pütz <spuetz@uni-osnabrueck.de>
*    Jorge Santos Simón <santos@magazino.eu>
*
*/

#ifndef MBF_SIMPLE_NAV__SIMPLE_NAVIGATION_SERVER_H_
#define MBF_SIMPLE_NAV__SIMPLE_NAVIGATION_SERVER_H_

#include <mbf_abstract_nav/abstract_navigation_server.h>
#include <pluginlib/class_loader.h>
#include <mbf_utility/types.h>

namespace mbf_simple_nav
{
/**
* @defgroup simple_server Simple Server
* @brief Classes belonging to the Simple Server level.
*/

/**
* @brief The SimpleNavigationServer provides a simple navigation server, which does not bind a map representation to
*        Move Base Flex. It combines the execution classes which use the mbf_abstract_core/AbstractController,
*        mbf_abstract_core/AbstractPlanner and the mbf_abstract_core/AbstractRecovery base classes
*        as plugin interfaces.
*
* @ingroup navigation_server simple_server
*/
class SimpleNavigationServer : public mbf_abstract_nav::AbstractNavigationServer
{
public:

    /**
     * @brief Constructor
     * @param tf_listener_ptr Shared pointer to a common TransformListener
     */
    SimpleNavigationServer(const TFPtr &tf_listener_ptr);

    /**
     * @brief Destructor
     */
    virtual ~SimpleNavigationServer() {}

    /**
     * @brief Loads the plugin associated with the given controller type parameter
     * @param controller_type The type of the controller plugin
     * @return A shared pointer to a new loaded controller, if the controller plugin was loaded successfully,
     *         an empty pointer otherwise.
     */
    virtual mbf_abstract_core::AbstractController::Ptr loadControllerPlugin(const std::string &controller_type);

    /**
     * @brief Empty init method. Nothing to initialize.
     * @param name The name of the controller
     * @param controller_ptr pointer to the controller object which corresponds to the name param
     * @return true always
     */
    virtual bool initializeControllerPlugin(
            const std::string &name,
            const mbf_abstract_core::AbstractController::Ptr &controller_ptr);

    /**
     * @brief Loads the plugin associated with the given planner_type parameter.
     * @param planner_type The type of the planner plugin to load.
     * @return true, if the local planner plugin was successfully loaded.
     */
    virtual mbf_abstract_core::AbstractPlanner::Ptr loadPlannerPlugin(const std::string &planner_type);

    /**
     * @brief Empty init method. Nothing to initialize.
     * @param name The name of the planner
     * @param planner_ptr pointer to the planner object which corresponds to the name param
     * @return true always
     */
    virtual bool initializePlannerPlugin(
            const std::string &name, const mbf_abstract_core::AbstractPlanner::Ptr &planner_ptr);

    /**
     * @brief Loads a Recovery plugin associated with given recovery type parameter
     * @param recovery_name The name of the Recovery plugin
     * @return A shared pointer to a Recovery plugin, if the plugin was loaded successfully, an empty pointer otherwise.
     */
    virtual mbf_abstract_core::AbstractRecovery::Ptr loadRecoveryPlugin(const std::string &recovery_type);

    /**
     * @brief Pure virtual method, the derived class has to implement. Depending on the plugin base class,
     *        some plugins need to be initialized!
     * @param name The name of the recovery behavior
     * @param behavior_ptr pointer to the recovery behavior object which corresponds to the name param
     * @return true always
     */
    virtual bool initializeRecoveryPlugin(
            const std::string &name, const mbf_abstract_core::AbstractRecovery::Ptr &behavior_ptr);

private:
    pluginlib::ClassLoader<mbf_abstract_core::AbstractPlanner> planner_plugin_loader_;
    pluginlib::ClassLoader<mbf_abstract_core::AbstractController> controller_plugin_loader_;
    pluginlib::ClassLoader<mbf_abstract_core::AbstractRecovery> recovery_plugin_loader_;
};

} /* namespace mbf_simple_nav */

#endif /* MBF_SIMPLE_NAV__SIMPLE_NAVIGATION_SERVER_H_ */
